CHO MNG NGY THNH LP TRNG I HC HNG HI VIT NAM, 01/ 4/ 2009

Tp ch Khoa hc Cng ngh Hng hi S 17 4/2009

18
IU KHIN NG B TC
NHIU NG C THEO PHNG PHP ELS
SYNCHRIZING MULTI-MOTORS CONTROL WITH ELECTRONIC LINESHAFT

TS. HONG XUN BNH
KS. TRN TIN LNG
Khoa in TTB trng HHH
Tm tt:
Bi bo gii thiu gii php ng b v tr, tc nhiu ng c theo phng php ELS
(Electronic Lineshaft),v phng php tng hp h thng bng m phng.
Abstract:
The article introduces a solution of position and speed synchrizing for multi-motor system
based on Electronic Lineshaft method and simultaneously stimulates a method of system
synthesis.

1. t vn
iu khin tc , v tr cc h thng truyn ng in dng nhiu ng c truyn ng
cho nhiu trc thc hin cng ngh trong cc lnh vc: (i) Nhm cng ngh cn thp bao gm:
Cn thp thanh, thp tm, cn ng [1;5]; (ii) Nhm cng ngh gia cng sn phm t ht nha: Cc
my sn xut si t ht nha, cc my trng, cc my sn sut ng nha[1; 5]; (iii) Nhm cng
ngh sn xut cp in cc loi nh my ko dy nguyn liu, my bc cch in [2;5;6]; (iiii)
Nhm cng ngh sn xut giy bao gm cc my xeo giy, cc truyn ng qun tho[1;2]. c
im ni bt v cu trc ca cc h thng thc hin cng ngh l phi dng nhiu trc truyn ng
bng nhiu ng c in. Yu cu iu khin truyn ng in cho cc h thng: (1) ng b ho
tc cc trc truyn ng; (2) iu chnh mmen cc ng c truyn ng gi sc cng
khng i; (3) iu khin v gim st cng ngh bng mng my tnh [5;6]. Trong , mt trong
nhng phng php truyn ng ng b v tr v tc nhiu ng c ang c s dng rng
ri l phng php Electronic Lineshaft.

2. Cu trc iu khin h thng truyn ng nhiu ng c theo nguyn l ELS (Electronic
Lineshaft)
Trn hnh 1, biu din cu trc iu khin ng b v tr v tc theo phng php
Electronic Lineshaft (ELS). Phng php Electronic Lineshaft (ELS) cho php b iu khin bm
chnh xc vi tn hiu tc , chiu v pha t Encoder ca ng c ch (Master). H s t l gia
ng c truyn ng ch (Master) v ng c t (Follower) c th iu chnh c lp bng tn
hiu tng t, s hay t qua mng truyn thng cho cc b iu khin [5]. ng c M1 ng vai
tr ch o (Master), ng c M2 l t (Follower), h thng duy tr v tr, tc ca hai ng c
theo t l cho trc. Cu trc ca b iu khin ELS c trnh by nh hnh 1, gm hai phn
chnh FEED FORWARD v FEEDBACK.

CHO MNG NGY THNH LP TRNG I HC HNG HI VIT NAM, 01/ 4/ 2009

Tp ch Khoa hc Cng ngh Hng hi S 17 4/2009

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Hnh 1: S cu trc iu khin ELS.


















Hnh 1: S cu trc iu khin Electronic Lineshaft.

- FEEDBACK: Trc tin c v tr ca ng c MASTER thng qua encoder v nhn vi t
l tc ca ng c Follower t trc, sau c v tr ca ng c Follower v tnh ton
sai lch v tr, sai lch ny a vo b iu khin PID, tn hiu u ra ca b PID chnh l tn hiu
phn hi ca ng c Follower.
- FEED FORWARD: L tch ca tn hiu tc ng c MASTER nhn vi t l tc t
trc, kt qu a vo b iu khin tc ca ng c Follower. Trong ch iu khin v tr
th b iu khin ny c vai tr nh l b iu khin b nhiu nhm b li cc sai lch bc cao v
v tr cho ng c Follower.
tm c hm truyn tc ng c Follower theo ng c Master, cu trc iu khin
ng c Follower c xut nh hnh 2.


Hnh 2: S cu trc tc ng c Follower theo ng c Master.

Trong , hm truyn i tng iu khin S
0
l hm truyn ng c vi mch vng iu
khin tc . Tn hiu a vo bao gm: tn hiu t u ra b iu khin v tr R kt hp vi tn
hiu tc t b phn hi trc R
F
. Hm truyn cho ton b mch vng s c thit lp:

p k R
S
p
k
R R
tp
tp
F
M
F
. 1
. .
0
+
|
|
.
|

\
|
+ =

(1)
tc ng c Follower v tc ng c Master bng nhau th t l
F
/
M
= 1.
Phng trnh (1) c vit li:


CHO MNG NGY THNH LP TRNG I HC HNG HI VIT NAM, 01/ 4/ 2009

Tp ch Khoa hc Cng ngh Hng hi S 17 4/2009

20
1
. 1
. .
0
=
+
|
|
.
|

\
|
+ =
p k R
S
p
k
R R
tp
tp
F
M
F

(2)
Suy ra:
0
1
S
R
F
= (3)

3. Tng hp h truyn ng ng b tc cho nhiu ng c mt chiu theo phng
php ELS bng m phng trn phn mn Matlab
minh ha cho phng php ELS ta tin hnh xy dng mt h thng ng b tc
gia 2 ng c mt chiu. Phng trnh ton ca ng c mt chiu c m t nh sau[4]:
- Phng trnh mch kch t:
) ( . . ). ( ) ( p p N R p I p U
k k k k
+ = (4)
- Phng trnh mch phn ng:
) ( ) ( . . ). ( ) ( p E p I p L R p I p U
u u
+ + = (5)
- Phng trnh chuyn ng ca h thng
) ( . . ) ( ) ( p p J p M p M
c
= (6)
trong : N
k
: s vng cun dy kch t;
R
k
: in tr cun dy kch t;
R
u
: in tr mch phn ng;
L
u
: in khng mch phn ng;
J: M men qun tnh ca ng c.
Trong ch kch t ng c khng i ta c phng trnh ton ng c nh sau [4]:
K = const = Cu (7)
) ( . ) 1 ( ). ( ) ( p Cu p T R p I p U
u u
+ + = (8)
) ( . . ) ( ) ( . p p J p M p I Cu
c
= (9)
T cc phng trnh m t ng c mt chiu (1) (9), s cu trc ng c c thit
lp nh hnh 3.

Hnh 3: M hnh ng c mt chiu kch t khng i.

trin khai cng tc thit k h thng iu khin truyn ng in theo nguyn l ELS
nhanh chng theo cc nguyn l ti u truyn thng. Cc phng php ny i hi tham s R
ca i tng iu khin[1;4]. Cc h thng truyn ng in nhiu ng c cho cc lnh vc cng
ngh nh: Sn xut sn phm nha, cn ko dy ng, bc cp in thng s dng cc ng
c cng sut trung bnh. Xut pht t tham s danh nh ca ng c ca hng LZ Leroy Somer
theo nhn my: P
dm
= 40,5 kW; n
dm
= 2100 v/p (
dm
= 220 rad/s); U
dm
= 440 VDC; I
dm
= 95A. Theo
[2], tnh ton c cc thng s ng c: L
u
= 0.015 H - in cm phn ng; R
u
= 0,5238 - in
tr phn ng; K. = C
u
= 1.75 - H s my in.
Cc thng s mch ca thit b quan st theo [6], c xc nh: K
i
= 0.1 - h s phn hi
ca sensor dng; K
cl
= 15.5 - H s khuych i b chnh lu; Kw = 0.0455 - H s phn hi ca
cm bin tc ; T
dk
= 0.01 - Hng s thi gian mch iu khn Thysistor; T
vo
= 0.01 - Hng s
thi gian m van Thysistor.
Cu trc m phng h truyn ng in mt chiu c 3 vng iu khin, vi b iu khin
dng in R

, b iu khin tc R

v b iu khin v tr R

ni tng, cu trc nh hnh 4. Vi

cc thng s ca i tng iu khin c xc nh. R

CHO MNG NGY THNH LP TRNG I HC HNG HI VIT NAM, 01/ 4/ 2009

Tp ch Khoa hc Cng ngh Hng hi S 17 4/2009

21


Hnh 4: Mch vng iu khin ni tng dng in, tc v v tr.

Trnh t xc nh tham s cho cc b iu khin thc hin nh sau:
Theo chun ti u module ta d dng tm c hm truyn b iu khin dng l PI

p T
R
K K
p T
R
s
u
i cl
u
I
. . 2 .
.
. 1+
= (10)
B iu khin tc theo chun ti u module

s
i
T K Cu
J K
R
. 4
1
.
.
.

= (11)
cho v tr ca ng c Follower t v sai cp 2, vic tng hp b iu khin v tr theo
chun module ti u i xng:

p T
p T
K
K
R
s
s
. . 128
. 16 1
.
2
3
+
=

(12)
Vi cc b iu khin tng hp c theo phng trnh (10) (12), ta d dng tng
hp c tham s cc b iu khin s cu trc nh hnh 4. Trong s cu trc tc
ng c Follower s bm theo v tr ca ng c Master vi tn hiu tc c ly t encoder
ca ng c Masster.
Khi tng hp c cu trc iu khin mt trc, vi cc h thng thc hin cng ngh
c nhiu trc truyn ng, gii php m phng h thng c cu trc nh hnh 1, tng ng vi
cu trc m phng trn hnh 5. Nguyn tc ny trong thc t c th p dng cho cc h thng thc
hin cng ngh vi s trc truyn ng ln n 50 [5;6]. Vn t t l tc gia cc trc ca
ng c truyn ng c thc hin mt cch ht sc thun tin.
Tin hnh chy th h thng bng m phng, vi t l v v tr v vn tc Kx = 0.7. Kt qu
thc hin v tr v tc ca cc ng c Master v Follower thu c trn hnh 6,7. Gi tr sai
lch tuyt i v v tr v tc ca cc ng c Master v Follower th hin trn hnh 8,9.
T hnh 8 v 9 ta thy kt qu thu c l mt t l gn nh khng sai lch gia tn hiu t
encoder ca ng c Master v v tr (tc ) ca ng c Follower. Gi tr v tr v tc ca
ng c Follower gn nh t l hon ton vi tc ng c Master ngay c trong ch khi
ng hay vi nhiu ngu nhin ca ti. Sai lch v tr ch l 0.15 trong mt khong thi gian rt
ngn, sai lch tc vo khong 0.6% khi c nhiu ti bng 120% ti nh mc v sai lch ny
c b iu khin trit tiu mt cch nhanh chng.
CHO MNG NGY THNH LP TRNG I HC HNG HI VIT NAM, 01/ 4/ 2009

Tp ch Khoa hc Cng ngh Hng hi S 17 4/2009

22

Hnh 5: Truyn ng ng b v tr hai ng c mt chiu theo phng php ELS



























4. Kt lun
iu khin h thng truyn ng in nhiu ng c theo phng php ELS, c
tng hp bng m phng cho php rt ra mt s kt lun sau y: (1): C th iu khin nhiu
ng c trong h thng thc hin cng ngh theo Encorder trn ng c Master; (2): Thc hin
iu chnh tc , v tr theo mt t l bt k gia ng c Master v cc ng c Follower; (3):
Phng php ELS ng b ho tc , v tr trong mi ch cng tc ca h thng truyn ng
in nhiu ng c; (4): Gi tr sai lch tnh v v tr v tc nh hn 1%.


Hnh 6: V tr thc hin ca ng c
Master v Follower

Hnh 7: Tc ng c Master v
Follower

Hnh 8: Sai lch v tr ng c Follower theo
gi tr t t encoder ng c Master

Hnh 9: Sai lch tc ng c Follower theo
gi tr t gi tr t t encoder ng c Master
CHO MNG NGY THNH LP TRNG I HC HNG HI VIT NAM, 01/ 4/ 2009

Tp ch Khoa hc Cng ngh Hng hi S 17 4/2009

23
TI LIU THAM KHO
[1]. Bi Quc Khnhiu chnh truyn ng in t ng Nh xut bn Khoa hc & K thut
H ni 1996.
[2]. Ng Xun Hng - Lun vn thc s Nghin cu nng cao cht lng h thng iu khin
truyn ng nhiu ng c - i hc Hng hi Vit Nam 2008.
[3]. PGS. TS. Nguyn Thng Ng L thuyt iu khin t ng thng thng v hin i -
Quyn 1: H tuyn tnh Nh xut bn Khoa hc & K thut H ni 2004.
[4]. Phm Cng Ng L thuyt iu khin t ng - Nh xut bn Khoa hc & K thut H ni 2004.
[5]. SIEI DGFC ELS Electric line shaft instruction manual.
[6]. LS Cable Technical Transfer Document.

Ngi phn bin: TS. Trn Anh Dng